Dynamic object detection indicator system for an automated vehicle

ABSTRACT

A system includes a tracking system, a controller-circuit, and a device. The tracking system is configured to detect and track an object, and includes one or more of a computer vision system, a radar system, and a LIDAR system. The controller-circuit is disposed in a host vehicle, and is configured to receive detection signals from the tracking system, process the detection signals, determine, whether an object is detected based on the processed detecting signals, and in accordance with a determination that an object is detected, output command signals. The device is adapted to be mounted to the host vehicle, and is configured to receive the command signals and thereby provide a dynamic visual indication adapted to change in accordance with orientation changes between the host vehicle and the object. The dynamic visual indication is viewable from outside of the host vehicle.

TECHNICAL FIELD

The present disclosure relates to automated vehicles, and moreparticularly, to a dynamic object detection indicator system for anautomated vehicle.

SUMMARY

A system according to one non-limiting, exemplary embodiment of thepresent disclosure includes a tracking system, a controller-circuit, anda device. The tracking system is configured to detect and track anobject, and includes one or more of a computer vision system, a radarsystem, and a LIDAR system. The controller-circuit is disposed in a hostvehicle, and is configured to receive detection signals from thetracking system, process the detection signals, determine, whether anobject is detected based on the processed detecting signals, and inaccordance with a determination that an object is detected, outputcommand signals. The device is adapted to be mounted to the hostvehicle, and is configured to receive the command signals and therebyprovide a dynamic visual indication adapted to change in accordance withorientation changes between the host vehicle and the object. The dynamicvisual indication is viewable from outside of the host vehicle.

A method of operating the system according to another, non-limiting,embodiment, includes the steps of detecting and tracking an object by atracking system. Once detected, the detection signals are received by acontroller-circuit from the tracking system. The controller-circuit thenorientates the object with respect to a host vehicle. A command signalbased on the changing orientation is sent by the controller-circuit to adetector device that is viewable from the outside of the host vehicle.The detector device generates a dynamic visual indication indicative ofthe changing orientation.

A non-transient computer readable medium according to another,non-limiting, embodiment of the present disclosure contains programinstructions for causing a system to perform a method. The methodincludes the steps of detecting and tracking an object by a trackingsystem. Once detected, the detection signals are received by acontroller-circuit from the tracking system. The controller-circuit thenorientates the object with respect to a host vehicle. A command signalbased on the changing orientation is sent by the controller-circuit to adetector device that is viewable from the outside of the host vehicle.The detector device generates a dynamic visual indication indicative ofthe changing orientation.

These and other advantages and features will become more apparent fromthe following description taken in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The subject matter which is regarded as the invention is particularlypointed out and distinctly claimed in the claims at the conclusion ofthe specification. The foregoing and other features, and advantages ofthe invention are apparent from the following detailed description takenin conjunction with the accompanying drawings in which:

FIG. 1 is a plan view of a host vehicle utilizing a dynamic objectdetection indicator system as one exemplary embodiment of the presentdisclosure;

FIG. 2 is a schematic of the dynamic object detection indicator system;and

FIG. 3 is a flow chart of a method of operating the dynamic objectdetection indicator system.

DETAILED DESCRIPTION

Reference will now be made in detail to embodiments, examples of whichare illustrated in the accompanying drawings. In the following detaileddescription, numerous specific details are set forth in order to providea thorough understanding of the various described embodiments. However,it will be apparent to one of ordinary skill in the art that the variousdescribed embodiments may be practiced without these specific details.In other instances, well-known methods, procedures, components,circuits, and networks have not been described in detail so as not tounnecessarily obscure aspects of the embodiments.

Referring to FIG. 1 , a dynamic object detection indicator system 20 isconstructed for use on a host vehicle 22. In one example, the hostvehicle may be an automated vehicle, or an autonomous vehicle. Theindicator system 20 is configured to detect and track an object 24located externally from the host vehicle 22, and provides a dynamic,visual, indication directed toward the object 24. In one example, theobject 24 is a person or pedestrian. Other examples of objects 24include land-based vehicles, aerial vehicles, geographic features, roadsigns, and others.

Referring to FIGS. 1 and 2 , the indicator system 20 includes a trackingsystem 26, a controller-circuit 28, and an indicator device 30. Thetracking system 26 includes one, or more, of a computer vision system32, a radar system 34, and a Light Detection and Ranging (LiDAR) system36 configured to detect and track the object 24 as is known by oneskilled in the art. The controller-circuit 28 is configured to receivedetection signals (see arrow 38) from the tracking system 26, processthe detection signals 38, and based on the detection signals 38,determine if an object is detected. If an object 24 is detected, thecontroller-circuit 28 transforms the signals 38 into command signals 40sent to the indicator device 30. Although not illustrated, it iscontemplated and understood that the tracking system 26 may furtherinclude, or otherwise utilizes, a global positioning system to confirmthe geographic location of the host vehicle, and thereby determine ageographic location of the detected object 24.

After initial detection of the object 24, the tracking system 26continues to detect the object 24, and continues to output detectionsignals 38. The signals 38 are also indicative of the changing locationof the object 24 with respect to the host vehicle 22. In this way, theobject 24 is tracked by the indicator system 20. In one embodiment, thecontroller-circuit 28 may be located in the host vehicle 22. In otherembodiments, at least a portion of the controller-circuit 28 may belocated remotely from the host vehicle, and is configured to communicatewirelessly with the host vehicle.

The indicator device 30 is configured to receive the command signals 40,and thereby provide a dynamic visual indication 42 (see FIG. 2 ) that isviewable by the object, or is otherwise directed toward the object,along a direct line-of-sight (see arrow 44 in FIG. 1 ). The indicatordevice 30 is carried by, or attached to, the host vehicle 22 at alocation that is clearly visible by a person (e.g., pedestrian) locatedoutside of the host vehicle. To maintain the direct line-of-sight 44,the indicator device 30 is adapted to change or maneuver (see arrow 46)the visual indication 42 upon the indicator device 30. Thisrepositioning of the visual indication 42 is facilitated by the trackingcapability of the tracking system 26.

As best shown in FIG. 1 , and in one scenario example, the host vehicle22 may initially detect the object 24 along a direct line-of-site 44,represented by dashed lines (i.e., phantom lines). As the host vehicle22 moves in a forward direction (see arrow 48), the indicator 42 (seeFIG. 2 ), rotates in a clockwise direction 46 to maintain the directline-of-site 44 with the object 24 that may be stationary (i.e.,represented by solid lines to indicate a current or real-time position).In other examples, the host vehicle 22 may be stationary while theobject 24 is in motion, or both the host vehicle 22 and the object 24may be in motion.

It is contemplated and understood that in some examples, the detectedobject 24 is not be a person, therefore the dynamic visual indication 42directed toward the object 24 is not directly beneficial to the objectitself. However, person(s), external to the host vehicle 22, are stillcapable of visually seeing that the host vehicle 22 has detected, and isactively tracking, the object 24. This in itself, can be an advantage.For example, the detected object 24 may be something of value and ownedby the undetected person. In this scenario, the visual indication 42provides a degree of comfort, or assurance, to the undetected personthat the host vehicle 22 will not drive into, or damage, the detectedobject 24 because it is being tracked by the host vehicle 22.

In one example, the indicator device 30 is a cylindrical distribution,or array, of lights generally distributed about a substantially verticalcenterline C. In this example, the indicator device 30 is mounted to atop of a roof of the host vehicle 22, and the array of lights is acircumferentially continuous row of lights. The lights which areselectively illuminated is the indication 42. As previously described,the indication 42 is adapted to change in orientation to maintain adirect line-of-site 44. In addition, if the indication 42 is a selectionof lights and in one example, the illumination intensity of theindication 42 changes as a function of distance between the object 24and the host vehicle 22. For example, the illumination intensityincreases as the distance between the host vehicle 22 and the object 24decreases. Examples of a light, or light element type, include a lightemitting diode (LED), a light guide, and others.

In another example, the dynamic visual indication 42 is, or includes, anilluminated flashing having a frequency that changes as a function ofdistance between the host vehicle 22 and the object 24. In oneembodiment, the frequency increases as the distance between the hostvehicle 22 and the object 24 decreases. In another embodiment, both theillumination intensity and the frequency of flashes simultaneouslychange as a function of distance between the host vehicle 22 and thedetected object 24. In yet another example, the color of the dynamicvisual indication 42 changes as a function of the direct line-of-site 44(i.e., orientation or coordinates) between the host vehicle 22 and theobject 24.

In one example, the indicator device 30 is constructed such that thedirect line-of-site 42 lies in a horizontal plan regardless of theorientation between the host vehicle 22 and the object 24 (i.e., atwo-dimensional orientation). In another example, the indicator device30 is not cylindrical, and instead, is generally hemispherical in shape,capable of dynamic visual indication in a three-dimensional space. Inyet another example, if the visual indication 42 is facilitated from anarray of lights, the array of lights can be a linear strip of lights,with the lights being viewable from the front and/or back of the hostvehicle 22.

In some embodiments, the controller-circuit 28 includes one or moreprocessors 50 (i.e., one illustrated in FIG. 2 ) and one or moreelectronic storage mediums 52 (i.e., one illustrated in FIG. 2 ). In oneexample, the processor 50 is a microprocessor, or is other controlcircuitry such as analog and/or digital control circuitry including anapplication specific integrated circuit (ASIC) for processing data as isknown by one with skill in the art. In one example, the storage medium52 is a non-volatile memory, such as electrically erasable programmableread-only memory (EEPROM) for storing one or more routines, thresholds,and captured data, hereafter referred to as application(s). Theapplications are executed by one or more of the processors 50 to enableoperation, or functioning, of the system 20. Another example of theelectronic storage medium 52 is a non-transitory storage medium.

In one embodiment, the dynamic object detection indicator system 20 isconfigured to recognize the object 24 as, for example, a person. Thesystem 20 is further configured to activate the indicator device 30 onlyif the object 24 is first recognized as a person. To facilitate thisrecognition, the system 20 includes a recognition application 54. Therecognition application 54 is software-based, stored in the storagemedium 52, and is executed by the processor 50 once the object 24 isdetected by the tracking system 26. The application 54 is thusconfigured to apply the signals 38 received from the tracking system 26,and transform the signals into a confirmation that the detected objectis, or is not, a person.

Referring to FIG. 3 , a method of operating the dynamic object detectionindicator system 20 is illustrated. At block 100, the tracking system 26detects and tracks the object 24. At block 102, the controller-circuit28 receives detection signals from the tracking system 26. At block 104,the detection signals 38 are processed and transformed by thecontroller-circuit 28 to orientate the object 24 to the host vehicle 22.At block 106, the detection signals 38 are transformed to an outputcommand signal 40 by the controller-circuit 28. At block 108, thecommand signal 40 is received by the indicator device 30. At block 110,the indictor device 30, via the command signal 40, generates a dynamicvisual indication 42 that is indicative of the changing orientationbetween the host vehicle 22 and the detected object 24. At block 112,the object 24 is alerted of the detection via the dynamic visualindication 42 is the object is recognized as a person by the recognitionapplication 54.

Benefits and advantages of the present disclosure include the ability ofa host vehicle to visually communicate with an object or person (e.g.,pedestrian) that the pedestrian is detected and is being tracked. Otheradvantages include the reduction of concern, or anxiety, by pedestriansof whether a nearby automated vehicle is aware of their presence.

The various functions described above may be implemented or supported bya computer program that is formed from computer readable program codes,and that is embodied in a computer readable medium. Computer readableprogram codes may include source codes, object codes, executable codes,and others. Computer readable mediums may be any type of media capableof being accessed by a computer, and may include Read Only Memory (ROM),Random Access Memory (RAM), a hard disk drive, a compact disc (CD), adigital video disc (DVD), or other non-transitory forms.

The terminology used in the description of the various describedembodiments herein is for the purpose of describing particularembodiments only and is not intended to be limiting. As used in thedescription of the various described embodiments and the appendedclaims, the singular forms “a”, “an” and “the” are intended to includethe plural forms as well, unless the context clearly indicatesotherwise. It will also be understood that the term “and/or” as usedherein refers to and encompasses any and all possible combinations ofone or more of the associated listed items. It will be furtherunderstood that the terms “includes,” “including,” “comprises,” and/or“comprising,” when used in this specification, specify the presence ofstated features, integers, steps, operations, elements, and/orcomponents, but do not preclude the presence or addition of one or moreother features, integers, steps, operations, elements, components,and/or groups thereof.

As used herein, the term “if” is, optionally, construed to mean “when”or “upon” or “in response to determining” or “in response to detecting,”depending on the context. Similarly, the phrase “if it is determined” or“if [a stated condition or event] is detected” is, optionally, construedto mean “upon determining” or “in response to determining” or “upondetecting [the stated condition or event]” or “in response to detecting[the stated condition or event],” depending on the context.

Terms used herein such as component, application, module, system, andthe like are intended to refer to a computer-related entity, eitherhardware, a combination of hardware and software, or software execution.By way of example, an application may be, but is not limited to, aprocess running on a processor, a processor, an object, an executable, athread of execution, a program, and/or a computer. An applicationrunning on a server and the server, may be a component. One or moreapplications may reside within a process and/or thread of execution andan application may be localized on one computer and/or distributedbetween two or more computers.

While the invention has been described in detail in connection with onlya limited number of embodiments, it should be readily understood thatthe invention is not limited to such disclosed embodiments. Rather, theinvention can be modified to incorporate any number of variations,alterations, substitutions or equivalent arrangements not heretoforedescribed, but which are commensurate with the spirit and scope of theinvention. Additionally, while various embodiments of the invention havebeen described, it is to be understood that aspects of the invention mayinclude only some of the described embodiments. Accordingly, theinvention is not to be seen as limited by the foregoing description.

Having thus described the invention, it is claimed:
 1. A systemcomprising: a tracking system configured to detect and track an object,the tracking system including one or more of a computer vision system, aradar system, and a LIDAR system; a controller-circuit disposed in ahost vehicle and configured to: receive detection signals from thetracking system, process the detection signals, determine, based on theprocessed detecting signals, whether an object is detected, and inaccordance with a determination that an object is detected, outputcommand signals; an indicator device adapted to be mounted to the hostvehicle and to provide a dynamic visual indication that is viewable fromoutside of the host-vehicle, the indicator device configured to: receivethe command signals; responsive to the command signals, change itsphysical orientation relative to the host vehicle to track the object soas to maintain a direct line-of-sight with the object; and provide thedynamic visual indication.
 2. The system set forth in claim 1, whereinthe dynamic visual indication is an illumination that changes inintensity as a distance between the host vehicle and the object changes.3. The system set forth in claim 1, wherein the dynamic visualindication is an illuminated flashing with changing frequency based on achanging distance of the object from the host vehicle.
 4. The system setforth in claim 1, wherein the dynamic visual indication is anilluminated flashing with changing frequency based on a changingdistance of the object from the host vehicle.
 5. The system set forth inclaim 1, wherein the dynamic visual indication is an illumination thatchanges in intensity as a distance between the host vehicle and theobject changes.
 6. The system set forth in claim 5, wherein theillumination increases in intensity as the object approaches thevehicle.
 7. The system set forth in claim 1, wherein the dynamic visualindication is a change in color relative to the line-of-sight.
 8. Thesystem set forth in claim 1, wherein the indicator device includes anarray of lights configured to provide the dynamic visual indication thatilluminates toward the object when detected.
 9. The system set forth inclaim 8, wherein the array of lights illuminate with greater intensitytoward the object.
 10. The system set forth in claim 8, wherein thearray of lights is a circumferentially continuous row of lights.
 11. Thesystem set forth in claim 8, wherein the array of lights is a linearstrip of lights.
 12. The system set forth in claim 8, wherein each lightof the array of lights include at least one of an LED and a light guide.13. The system set forth in claim 1, wherein the indicator deviceincludes an array of lights, and each light is selectively activatedbased on range and direction of the object when detected.
 14. The systemset forth in claim 1, wherein the controller-circuit is configured toexecute a recognition application that facilitates recognition of theobject and the indicator device provides the dynamic visual indicationaccordingly.
 15. A method comprising: receiving, with at least onecontroller-circuit, detection signals from a tracking system;determining, with the at least one controller-circuit and based on thedetection signals, that an object is detected; responsive to determiningthat an object is detected, generating, with the at least onecontroller-circuit, output command signals; responsive to the outputcommand signals, changing, with the at least one controller-circuit, aphysical orientation of an indicator device relative to the host vehicleto track the object so as to maintain a direct line-of-sight with theobject, where the indicator device is adapted to be mounted to the hostvehicle; and providing, by the indicator device, a dynamic visualindication that is viewable from outside of the host vehicle.
 16. Anon-transient computer readable medium storing instructions, that whenexecuted by at least one processor, cause the at least one processor toperform operations comprising: receiving detection signals from atracking system; determining, based on the detection signals, that anobject is detected; responsive to determining that an object isdetected, generating output command signals; responsive to the outputcommand signals, changing a physical orientation of an indicator devicerelative to the host vehicle to track the object so as to maintain adirect line-of-sight with the object, where the indicator device isadapted to be mounted to the host vehicle and to provide a dynamicvisual indication that is viewable from outside of the host vehicle; andproviding the dynamic visual indication to the indicator device.
 17. Themethod of claim 15, wherein the dynamic visual indication includes anillumination that changes in intensity or frequency.
 18. The method ofclaim 15, wherein the dynamic visual indication includes at least onelight that changes in color.
 19. The method of claim 15, wherein theindicator device includes a plurality of lights.
 20. The method of claim19, wherein the plurality of lights includes at least one of acircumferentially continuous row of lights or a linear strip of lights.